CN111832965B - Unmanned same-span multi-crown block cooperative scheduling method and system, medium and terminal - Google Patents
Unmanned same-span multi-crown block cooperative scheduling method and system, medium and terminal Download PDFInfo
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Abstract
The invention provides a method, a system, a medium and a terminal for collaborative scheduling of unmanned same-span multi-crown blocks, which comprise the following steps: acquiring starting positions, destinations, planned paths and blocking areas of a target crown block and adjacent crown blocks which are positioned on the same span; judging whether the target crown block and the adjacent crown block have blocking area conflict or not; if yes, resolving the conflict of the blocking areas through avoiding, and updating the blocking areas of the target crown block; if not, judging whether the target crown block and the adjacent crown block have path conflict or not; if so, resolving the path conflict by waiting, and updating the blocking area of the target crown block; and if the planned path does not exist, outputting the planned path of the target crown block as an executable path of the target crown block. The unmanned same-span multi-crown block collaborative scheduling method, the unmanned same-span multi-crown block collaborative scheduling system, the medium and the terminal can not only realize path conflict resolution and orderly avoidance of the multi-crown block, but also adapt to variability such as crown block operation destination change, crown block faults or abnormality and the like.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a system for collaborative scheduling of unmanned same-span multi-crown blocks, a medium and a terminal.
Background
In recent years, intelligent manufacturing rapidly develops worldwide, and has important effects on industrial development, division of work patterns and promotion of new production modes, industrial forms and business modes. At present, most crown blocks in the storage operation in the domestic metallurgical industry still adopt the traditional manual driving mode. The unmanned and intelligent driving of the crown block can be promoted, the warehouse utilization rate and the warehouse in-out efficiency can be improved, the safety guarantee of staff is greatly improved, and the labor cost is reduced. Therefore, the unmanned and intelligent crown block has become a necessary trend for accelerating structural reform of a supply side in the metallurgical industry and realizing intelligent manufacturing in warehouse operation.
When a plurality of unmanned crown blocks work in the same cross region, the problem of cooperative scheduling between the adjacent crown block works is faced. Unreasonable scheduling can cause the multi-car to wait for each other and reduce the operating efficiency, trigger overhead traveling crane control layer and hardware layer anticollision protection and unusual parking scheduling problem. The cooperative scheduling of a plurality of adjacent unmanned crown blocks in the same cross region is performed to realize path conflict resolution and orderly avoidance, and is one of key technologies for realizing unmanned and intelligent crown block driving.
Aiming at the problem of path conflict in unmanned same-span multi-crown block operation, various methods in the prior art have been proposed. However, the existing method lacks the adaptability to the variability of the destination change of the crown block, the crown block failure or abnormality and the like, and when the variability occurs, the problems of reduced running efficiency caused by waiting of multiple vehicles, abnormal parking caused by triggering the anti-collision protection of the crown block control layer and the hardware layer and the like still occur.
For example, the chinese patent application publication No. CN105447619a, an overhead travelling crane collision detection and intelligent avoidance method, discloses an overhead travelling crane collision detection and intelligent avoidance method based on an overlapping region, and the method binds two sequential actions of entering and exiting an overlapping region for avoidance of an overhead travelling crane with higher priority, and cannot adapt to overlapping region change caused by change of an operation destination of the overhead travelling crane with lower priority; meanwhile, the method synchronizes the two actions that the crown block with higher priority leaves the overlapping area and the crown block with lower priority enters the overlapping area, and cannot adapt to the variability that the crown block with higher priority does not leave the overlapping area in time due to faults or anomalies.
For another example, the chinese patent application publication No. CN107298386a discloses a feature decision tree group method for implementing collision avoidance between multiple crown blocks of unmanned crown blocks, which determines whether collision is formed and whether collision avoidance is required according to the operation state of the crown blocks, but does not consider how to adapt to variability such as destination change of crown blocks, crown block faults or anomalies.
Also for example, chinese patent application publication No. CN109409603a, a scheduling algorithm for multi-traveling crane, discloses a method of dividing an operation area into areas equal to the number of crown blocks according to the number of crown blocks, and avoiding crown block path collision by division. However, this method fails to truly realize multi-crown block cooperative scheduling, nor is it adaptable to variability.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide a method, a system, a medium and a terminal for collaborative scheduling of unmanned same-span multi-crown blocks, which realize the collaborative scheduling of the unmanned same-span multi-crown blocks based on a mobile blocking technology, can realize path conflict resolution and orderly avoidance of the multi-crown blocks, and can adapt to the variability of crown block operation destination change, crown block faults or anomalies and the like.
To achieve the above and other related objects, the present invention provides a method for collaborative scheduling of unmanned co-spanning multi-crown blocks, comprising the steps of: acquiring starting positions, destinations, planned paths and blocking areas of a target crown block and adjacent crown blocks which are positioned on the same span; judging whether the target crown block and the adjacent crown block have blocking area conflict or not; if the blocking area conflict exists, resolving the blocking area conflict by avoiding, and updating the blocking area of the target crown block; if no blocking area conflict exists, judging whether the target crown block and the adjacent crown block have path conflict or not; if the path conflict exists, resolving the path conflict by waiting, and updating the blocking area of the target crown block; and if no path conflict exists, outputting the planned path of the target crown block as an executable path of the target crown block.
In an embodiment of the present invention, when a planned path of a target crown block and an occlusion area of an adjacent crown block have a cross-coincidence point, it is determined that the target crown block and the adjacent crown block have an occlusion area conflict.
In an embodiment of the present invention, resolving the collision of the blocking area by avoiding, and updating the blocking area of the target crown block includes the following steps:
acquiring a safety avoidance position of an extension end of an occlusion region of the adjacent crown block;
outputting an executable path of the target crown block, wherein the executable path is a path from the starting position of the target crown block to the safe avoiding position;
updating the blocking area of the target crown block into a path between the safety avoidance position and the destination of the target crown block.
In an embodiment of the present invention, when the planned paths of the two crown blocks have a cross coincidence point, it is determined that the paths of the two crown blocks have a path conflict.
In an embodiment of the present invention, waiting for resolving the path conflict and updating the blocking area of the target crown block includes the following steps:
obtaining a conflict point nearest to the starting position of the target crown block;
acquiring a safe waiting position of the conflict point in a direction approaching to the starting position of the target crown block;
outputting an executable path of the target crown block, wherein the executable path is a path from a starting position of the target crown block to the safe waiting position;
updating the blocking area of the target crown block into a path between the safe waiting position and the destination of the target crown block.
In an embodiment of the present invention, for an overhead travelling crane performing an operation, a path is planned from a current position to a current position.
In an embodiment of the present invention, when the destination of the target crown block changes, the cooperative scheduling is performed with the adjacent crown block based on the changed destination.
Correspondingly, the invention provides an unmanned same-span multi-crown block collaborative scheduling system which comprises an acquisition module, a judgment module, an occlusion conflict module and a path conflict module;
the acquisition module is used for acquiring the starting positions, the destinations, the planned paths and the blocking areas of the target crown blocks and the adjacent crown blocks which are positioned on the same span;
the judging module is used for judging whether the target crown block and the adjacent crown block have the blocking area conflict or not;
the blocking conflict module is used for resolving the blocking area conflict through avoiding if the blocking area conflict exists, and updating the blocking area of the target crown block;
the path conflict module is used for judging whether the target crown block and the adjacent crown block have path conflict or not if the blocking area conflict does not exist; if the path conflict exists, resolving the path conflict by waiting, and updating the blocking area of the target crown block; and if no path conflict exists, outputting the planned path of the target crown block as an executable path of the target crown block.
The invention provides a storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the above-mentioned unmanned co-scheduling method for multi-crown blocks.
Finally, the invention provides an unmanned co-span multi-crown block collaborative scheduling terminal, which comprises the following steps: a processor and a memory;
the memory is used for storing a computer program;
the processor is used for executing the computer program stored in the memory so that the unmanned same-span multi-crown block collaborative scheduling terminal executes the unmanned same-span multi-crown block collaborative scheduling method.
As described above, the unmanned same-span multi-crown block collaborative scheduling method and system, medium and terminal have the following beneficial effects:
(1) Based on a mobile blocking technology, the waiting task, the avoidance task and the transportation task are respectively regarded as independent tasks to be independently scheduled, so that the co-scheduling of unmanned same-span multi-crown block is realized;
(2) The method can realize path conflict resolution and orderly avoidance of the multi-crown block, ensure the working efficiency and working process of the multi-crown block, and realize automation and intellectualization of crown block control;
(3) The device can adapt to the variability of the operation destination change of the crown block, crown block faults or anomalies and the like, has strong flexibility, is suitable for various application scenes, and has practicability.
Drawings
FIG. 1 is a schematic diagram of a frame of an unmanned co-dispatching method for multi-crown blocks according to an embodiment of the present invention;
FIG. 2 is a flow chart of an unmanned co-dispatching method for multi-crown blocks according to an embodiment of the invention;
FIG. 3 is a schematic view of a scenario in an embodiment of the unmanned co-dispatching method for multi-crown blocks according to the present invention;
FIG. 4 is a schematic view of a scenario of the unmanned co-dispatching method of the present invention in another embodiment;
FIG. 5 is a schematic diagram of an unmanned co-dispatching system for multi-crown blocks according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an unmanned co-span multi-crown block co-dispatching terminal according to an embodiment of the invention.
Description of element reference numerals
51. Acquisition module
52. Judgment module
53. Blocking collision module
54. Path conflict module
61. Processor and method for controlling the same
62. Memory device
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
The moving blocking means a communication-based blocking method in which the following train automatically sets the running speed according to the distance to the preceding train and the route condition. The interval between the following workshops of the blocking system is not fixed, and the braking distance of the subsequent train is ensured to be added with a proper protection distance, so that the driving density is greatly improved. The unmanned same-span multi-crown block collaborative scheduling method, the system, the medium and the terminal realize the unmanned same-span multi-crown block collaborative scheduling based on the mobile blocking technology, can realize path conflict resolution and orderly avoidance of the multi-crown block, and can adapt to variability of crown block operation destination change, crown block faults or anomalies and the like, thereby effectively improving the working efficiency of the crown block and having great practicability.
As shown in fig. 1, the unmanned same-span multi-crown block collaborative scheduling method is connected with a job scheduling layer upwards and a crown block execution layer downwards. The operation scheduling layer gives a planning starting position and a planning destination of the crown block according to a production plan, a process requirement, crown block utilization rate and the like, and the planning is used as input of the unmanned same-span multi-crown block collaborative scheduling method. The unmanned same-span multi-crown block collaborative scheduling method outputs an executable path to coordinate the same-span multi-row vehicle operation. And after the crown block executing layer executes crown block dispatching, carrying out a job dispatching request again at the job dispatching layer.
As shown in fig. 2, in an embodiment, the method for co-dispatching unmanned co-span multi-crown blocks according to the present invention includes the following steps:
s1, acquiring starting positions, destinations, planned paths and blocking areas of a target crown block and adjacent crown blocks which are positioned on the same span.
Specifically, the starting position, the destination and the planned path of the target crown block and the adjacent crown block which are positioned on the same span are obtained based on the operation scheduling layer, and the blocking areas of the target crown block and the adjacent crown block are obtained based on the planned path. Wherein, a Blocking Zone (Blocking Zone) is configured for each crown block. When a collision is formed between the adjacent crown block and crown block crane_a on the Path from the Start position (location_start) to the destination (location_end) of the crown block crane_a, the collision resolution Path path_a= (location_start, location_safety) of crown block crane_a, i.e., the area from the Start position to the safety position of crown block crane_a. Thus, the occlusion region refers to the area between the crown block and the planned path destination as compared to the collision resolution path destination that spans the adjacent crown block. Along with the movement of the crown block, the path conflict relation between the crown block and the adjacent crown block is continuously updated. When new conflict occurs between the crown block and the adjacent crown block, the blocking area is updated accordingly; when the crown block and the adjacent crown block are not in conflict, the blocking area is empty.
And S2, judging whether the target crown block and the adjacent crown block have the blocking area conflict or not.
Specifically, assuming that a crown block crown_a is a target crown block, requesting to perform co-scheduling of the same-span multi-crown block, planning a Path path_a= (location_start_a, location_end_a), and when an adjacent crown block crown_b has a Blocking area blocking_zone= (location_safety_b, location_end_b), if the path_a and the blocking_zone have a cross overlapping point, judging that the target crown block and the adjacent crown block have a Blocking area conflict.
Particularly, when the overhead travelling Crane crane_a is performing the picking and placing operation, there is no running Path, the planned Path path= (location_current) is made, that is, the planned Path is the current position to the current position, and the method is adopted to determine whether the overhead travelling Crane crane_a and the adjacent overhead travelling Crane have the blocking area conflict.
And step S3, if the blocking area conflict exists, resolving the blocking area conflict through avoiding, and updating the blocking area of the target crown block.
Specifically, when there is an occlusion conflict, occlusion resolution by avoidance is required. In an embodiment of the present invention, resolving the collision of the blocking area by avoiding, and updating the blocking area of the target crown block includes the following steps:
31 A safety avoidance position at the extended end of the occlusion region of the adjacent crown block is obtained.
Specifically, on the planned path of the crown_a, if there is an occlusion area conflict between the occlusion area of the same cross adjacent crown and the crown_a, the safety Avoidance position location_avoidance of the extension end of the occlusion area needs to be found. The safety Avoidance position location_avoidance is obtained by extending the destination of the blocking area outwards, and the distance between the safety Avoidance position location_avoidance and the destination of the blocking area is the safety distance required by traveling of the crown block.
32 Outputting an executable path of the target crown block, wherein the executable path is a path from the starting position of the target crown block to the safety avoidance position.
Specifically, the crown block crane_a executes the avoidance path to perform occlusion region conflict resolution. Wherein, executable path_a= (location_start, location_avoidance) of crown_a.
33 Updating the occlusion area of the target crown block to a path between the safety avoidance location to the destination of the target crown block.
Specifically, based on the executable path, the occlusion area of the target crown block is updated to a path between the safety Avoidance position and the destination of the target crown block, i.e., blocking_zone= (location_avoidance, location_end_a).
S4, if no blocking area conflict exists, judging whether the target crown block and the adjacent crown block have path conflict or not; if the path conflict exists, resolving the path conflict by waiting, and updating the blocking area of the target crown block; and if no path conflict exists, outputting the planned path of the target crown block as an executable path of the target crown block.
Specifically, the Path of the target crown_a is set to path_a= (location_start_a, location_end_a), and the Path path_b= (location_current_b, location_end_b) being executed by the adjacent crown_b. If the path_A and the path_B have the cross coincidence point, judging that the Path conflict exists between the target crown block and the adjacent crown block, and waiting for resolving the Path conflict.
In an embodiment of the present invention, waiting for resolving the path conflict and updating the blocking area of the target crown block includes the following steps:
41 Obtaining the conflict point nearest to the starting position of the target crown block.
Specifically, when the path conflict exists between the crown_A of the crown block and the adjacent crown block crossing the same step, a conflict point closest to the Start position location_start of the crown block, namely a point closest to the Start position location_start of the crown block in the path of the adjacent crown block, is found.
42 The safe waiting position of the conflict point is acquired in the direction approaching to the starting position of the target crown block.
Specifically, the position where the crown block crane_a can travel furthest is a safety waiting position location_wait of the conflict point, the safety waiting position extends from the conflict point to the starting position direction of the crown block crane_a, and the distance between the safety waiting position and the conflict point is the distance required by the safety running of the crown block.
43 Outputting an executable path of the target crown block, wherein the executable path is a path from a starting position of the target crown block to the safe waiting position.
Specifically, crown_a performs a Wait Path for conflict resolution, the executable Path path_a= (location_start, location_wait), i.e. sampling from the Start position of the planned Path to the safe Wait position.
44 Updating the occlusion area of the target crown block to a path between the safe waiting position to the destination of the target crown block.
Specifically, based on the executable path, the occlusion area of the target crown block is updated to a path between the safe waiting position and the destination of the target crown block, i.e., blocking_zone= (location_wait, location_end_a).
In an embodiment of the invention, the unmanned same-span multi-crown block collaborative scheduling method further comprises collaborative scheduling based on the changed destination and the adjacent crown block when the destination of the target crown block is changed, so that requirements under various application scenes are met, and the working efficiency of the crown block is ensured.
The unmanned co-operation dispatching method of the multi-crown block is further described by a specific embodiment.
Embodiment one, path conflict determination and conflict resolution
As shown in fig. 3, in this embodiment, the job scheduling layer gives a planned Path path_a= (location_start_a, location_end_a) for the crown_a, the current position of crown_b is location_current_b, and the End point is location_end_b, i.e., path_b= (location_current_b, location_end_b).
First, the crown block crane_a and the crown block crane_b are subjected to collision determination of the blocking area. Since the crown_b occlusion is empty, there is no collision.
Then, a Path collision determination is performed, and since path_a and path_b have a cross overlap point, a Path collision exists.
Then, conflict resolution is performed. The location_end_b is the conflict point closest to the current position of the crown_a, and the Safety waiting position location_wait_a is determined by considering the Safety distance_safety. The executable Path of crown_a is updated to path_a= (location_start_a, location_wait_a). And simultaneously updates the occlusion Zone blocking_zone= (crane_a, location_wait_a, location_end_a) of crane_a.
Embodiment two, occlusion Conflict determination and Conflict resolution
As shown in fig. 3, in the embodiment one, after the crown_a execution Path (location_start_a, location_wait_a) and the crown_b execution Path (location_current_b, location_end_b) are respectively completed, the crown_a waits, and the job scheduling layer gives a planned Path path_b= (location_end_b, location_end_b_new) for the crown_b.
In this embodiment, first, the occlusion conflict judgment is performed. Since the Path path_b= (location_end_b, location_end_b_new) has a cross overlap point with the Blocking area blocking_zone= (track_a, location_wait_a, location_end_a), it is determined that the crown block track_a and the crown block track_b have a Blocking area collision. At this time, the crown_b is a target crown, and the crown_a is an adjacent crown.
Then, conflict resolution is performed. And determining that the safety Avoidance position met by the extension End of the occlusion region is location_avoidance_b, so that the execution Path of the crown_b is updated to be path_b= (location_end_b, location_avoidance_b).
Fourth embodiment, destination change of crown block, failure or abnormality of adjacent crown block, and other variability adaptations
As shown in fig. 4. In this embodiment, crown block crane_b is performing a lifting operation, crown block crane_a is waiting at location_wait_a, and its destination is location_end_a, and its Blocking area is blocking_zone= (crane_a, location_wait_a, location_end_a). And the destination of the crown block is changed due to emergency bill insertion and the like, or the destination of the crown block is withdrawn due to the fault or abnormality of the adjacent crown block Crane_B. At this time, the job scheduling layer gives the latest Path path_a= (location_wait_a, location_end_a_new) of the crown_a.
First, an occlusion conflict determination is performed. Since the Blocking Zone blocking_zone and the Path path_a both belong to the crown_a, there is no Blocking Zone collision, and the Blocking Zone is set to be empty.
Then, a path collision judgment is performed. Since there is no cross overlap point between the Path path_a and the Path (location_end_b ) of the crown_b, there is no Path collision.
At this time, the planned path of the Crane_A is the executable path.
As shown in fig. 5, in an embodiment, the unmanned co-span multi-crown block co-scheduling system of the present invention includes an acquisition module 51, a judgment module 52, an occlusion conflict module 53, and a path conflict module 54.
The acquiring module 51 is configured to acquire a starting position, a destination, a planned path and an occlusion area of a target crown block and an adjacent crown block located on the same span.
The judging module 52 is connected to the acquiring module 51, and is configured to judge whether there is a collision between the blocking area of the target crown block and the adjacent crown block.
The blocking conflict module 53 is connected to the judging module 52, and is configured to resolve the blocking area conflict by avoiding if there is a blocking area conflict, and update the blocking area of the target crown block.
The path conflict module 54 is connected to the blocking conflict module 53, and is configured to determine whether a path conflict exists between the target crown block and the neighboring crown block if there is no blocking area conflict; if the path conflict exists, resolving the path conflict by waiting, and updating the blocking area of the target crown block; and if no path conflict exists, outputting the planned path of the target crown block as an executable path of the target crown block.
The structures and principles of the acquiring module 51, the judging module 52, the blocking conflict module 53 and the path conflict module 54 are in one-to-one correspondence with the steps in the unmanned same-span multi-crown block collaborative scheduling method, so that the description is omitted here.
It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the x module may be a processing element that is set up separately, may be implemented in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the x module may be called and executed by a processing element of the apparatus. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more microprocessors (Digital Singnal Processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), or the like. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
The storage medium of the invention stores a computer program which, when executed by a processor, realizes the unmanned same-span multi-crown block collaborative scheduling method. Preferably, the storage medium includes: various media capable of storing program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
As shown in fig. 6, in an embodiment, the unmanned co-span multi-crown block co-dispatching terminal of the present invention includes: a processor 61 and a memory 62.
The memory 62 is used for storing a computer program.
The memory 62 includes: various media capable of storing program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
The processor 61 is connected to the memory 62, and is configured to execute a computer program stored in the memory 62, so that the unmanned co-span multi-crown block co-scheduling terminal executes the above-described unmanned co-span multi-crown block co-scheduling method.
Preferably, the processor 61 may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field programmable gate arrays (Field Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In summary, the unmanned same-span multi-crown block collaborative scheduling method, the system, the medium and the terminal respectively take the waiting task, the avoiding task and the transportation task as independent tasks to independently schedule based on the mobile blocking technology, so that the unmanned same-span multi-crown block collaborative scheduling is realized; the method can realize path conflict resolution and orderly avoidance of the multi-crown block, ensure the working efficiency and working process of the multi-crown block, and realize automation and intellectualization of crown block control; the device can adapt to the variability of the operation destination change of the crown block, crown block faults or anomalies and the like, has strong flexibility, is suitable for various application scenes, and has practicability. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (8)
1. A method for cooperatively dispatching unmanned same-span multi-crown block is characterized in that: the method comprises the following steps:
acquiring starting positions, destinations, planned paths and blocking areas of a target crown block and adjacent crown blocks which are positioned on the same span;
judging whether the target crown block and the adjacent crown block have blocking area conflict or not;
if the blocking area conflict exists, resolving the blocking area conflict by avoiding, and updating the blocking area of the target crown block;
if no blocking area conflict exists, judging whether the target crown block and the adjacent crown block have path conflict or not; if the path conflict exists, resolving the path conflict by waiting, and updating the blocking area of the target crown block; if no path conflict exists, outputting a planned path of the target crown block as an executable path of the target crown block;
when a planned path of a target crown block and an occlusion area of an adjacent crown block have crossing points, judging that the target crown block and the adjacent crown block have the occlusion area conflict;
resolving the conflict of the blocking area through avoiding, and updating the blocking area of the target crown block comprises the following steps:
acquiring a safety avoidance position of an extension end of an occlusion region of the adjacent crown block;
outputting an executable path of the target crown block, wherein the executable path is a path from the starting position of the target crown block to the safe avoiding position;
updating the blocking area of the target crown block into a path between the safety avoidance position and the destination of the target crown block.
2. The unmanned co-span multi-crown block co-scheduling method according to claim 1, wherein the method comprises the following steps: when the planned paths of the two crown blocks have crossing overlapping points, judging that the paths of the two crown blocks have collision.
3. The unmanned co-span multi-crown block co-scheduling method according to claim 2, wherein the method comprises the following steps: the steps of waiting for resolving the path conflict and updating the blocking area of the target crown block comprise the following steps:
obtaining a conflict point nearest to the starting position of the target crown block;
acquiring a safe waiting position of the conflict point in a direction approaching to the starting position of the target crown block;
outputting an executable path of the target crown block, wherein the executable path is a path from a starting position of the target crown block to the safe waiting position;
updating the blocking area of the target crown block into a path between the safe waiting position and the destination of the target crown block.
4. The unmanned co-span multi-crown block co-scheduling method according to claim 1, wherein the method comprises the following steps: and planning a path from the current position to the current position for the crown block in operation.
5. The unmanned co-span multi-crown block co-scheduling method according to claim 1, wherein the method comprises the following steps: and when the destination of the target crown block changes, carrying out cooperative scheduling with the adjacent crown block based on the changed destination.
6. The utility model provides an unmanned with striding multi-crown block collaborative scheduling system which characterized in that: the system comprises an acquisition module, a judgment module, an occlusion conflict module and a path conflict module;
the acquisition module is used for acquiring the starting positions, the destinations, the planned paths and the blocking areas of the target crown blocks and the adjacent crown blocks which are positioned on the same span;
the judging module is used for judging whether the target crown block and the adjacent crown block have the blocking area conflict or not;
the blocking conflict module is used for resolving the blocking area conflict through avoiding if the blocking area conflict exists, and updating the blocking area of the target crown block;
the path conflict module is used for judging whether the target crown block and the adjacent crown block have path conflict or not if the blocking area conflict does not exist; if the path conflict exists, resolving the path conflict by waiting, and updating the blocking area of the target crown block; if no path conflict exists, outputting a planned path of the target crown block as an executable path of the target crown block;
when a planned path of a target crown block and an occlusion area of an adjacent crown block have crossing points, judging that the target crown block and the adjacent crown block have the occlusion area conflict;
resolving the conflict of the blocking area through avoiding, and updating the blocking area of the target crown block comprises the following steps:
acquiring a safety avoidance position of an extension end of an occlusion region of the adjacent crown block;
outputting an executable path of the target crown block, wherein the executable path is a path from the starting position of the target crown block to the safe avoiding position;
updating the blocking area of the target crown block into a path between the safety avoidance position and the destination of the target crown block.
7. A storage medium having stored thereon a computer program, which when executed by a processor, implements the unmanned co-dispatching method of multi-crown blocks of any one of claims 1 to 5.
8. The utility model provides an unmanned with striding multi-crown block cooperation dispatch terminal which characterized in that includes: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory, so that the unmanned co-span multi-crown block co-scheduling terminal executes the unmanned co-span multi-crown block co-scheduling method according to any one of claims 1 to 5.
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| CN116934059B (en) * | 2023-09-18 | 2023-12-19 | 华芯(嘉兴)智能装备有限公司 | Crown block scheduling method, crown block scheduling device, crown block scheduling equipment and readable storage medium |
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